A Component-Based Approach to Ultrasonic Self Localization in Sensor Networks
Författare
Summary, in English
This report describes the development of an ultrasound based self localization system for mobile robots. The robot navigates using a combination of internal wheel encoders and absolute distance information from a sensor network. The sensor fusion problem is formulated as a non-linear state estimation problem which is approximated using an extended Kalman filter.
Avdelning/ar
Publiceringsår
2008
Språk
Engelska
Publikation/Tidskrift/Serie
Technical Reports TFRT-7619
Fulltext
- Available as PDF - 588 kB
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Dokumenttyp
Rapport
Förlag
Department of Automatic Control, Lund Institute of Technology, Lund University
Ämne
- Control Engineering
Status
Published
ISBN/ISSN/Övrigt
- ISSN: 0280-5316